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- W2188518831 abstract "This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control eort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the control input. We show that for a particular class of nonlinear systems, they give exactly the same design freedom in distributing the control eort among the actuators. Linear quadratic optimal control is contained as a special case. A benet of using a separate control allocator is that" @default.
- W2188518831 created "2016-06-24" @default.
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- W2188518831 date "2004-01-01" @default.
- W2188518831 modified "2023-09-26" @default.
- W2188518831 title "ResolvingActuatorRedundancy{OptimalControl vs.ControlAllocation ?" @default.
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